Simplexアーキテクチャによる安全な経路追従

原文アブストラクト

Robot navigation in complex environments necessitates controllers that prioritize safety while remaining performant and adaptable. Traditional controllers like Regulated Pure Pursuit, Dynamic Window Approach, and Model-Predictive Path Integral, while reliable, struggle to adapt to dynamic conditions. Reinforcement Learning offers adaptability but state-wise safety guarantees remain challenging and often absent in practice. To address this, we propose a path tracking controller leveraging the Simplex architecture. It combines a Reinforcement Learning controller for adaptiveness and performance with a high-assurance controller providing safety and stability. Our main goal is to provide a safe testbed for the design and evaluation of path-planning algorithms, including machine-learning-based planners. Our contribution is twofold. We firstly discuss general stability and safety considerations for designing controllers using the Simplex architecture. Secondly, we present a Simplex-based path tracking controller. Our simulation results, supported by preliminary in-field tests, demonstrate the controller's effectiveness in maintaining safety while achieving comparable performance to state-of-the-art methods.